Composite nonlinear feedback integral sliding mode tracker design for uncertain switched systems with input saturation

In this paper, a composite nonlinear feedback technique is proposed for robust tracking control of switched systems with unmatched uncertainties and input saturation. The proposed self-tuning integral sliding mode tracker presents a time-varying boundary layer width and a variable control gain, which could improve the transient performance and steady-state accuracy simultaneously. This scheme guarantees robustness against uncertainties, removes reaching phase, and avoids chattering problem. To adapt the variation of the tracking targets, a new scaled nonlinear function is employed. Simulation results are included to exhibit the efficiency of the suggested method.